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diff --git a/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mesh/bottle_opener_009_geometry_Looks_material_0.png b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mesh/bottle_opener_009_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1f1d642b6c53b97a863c98c32e27a976ea5b001
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mesh/bottle_opener_009_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbd611e5e5d025c0175ad7f12fa548649067a2ec010fa37be043dccff709ad00
+size 10232625
diff --git a/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mesh/material.mtl b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..de15c0358a1dc0cc82a990384ec1fb1ec0cd927b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl bottle_opener_009_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd bottle_opener_009_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mesh/material_0.png b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1f1d642b6c53b97a863c98c32e27a976ea5b001
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbd611e5e5d025c0175ad7f12fa548649067a2ec010fa37be043dccff709ad00
+size 10232625
diff --git a/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/bottle_opener_009.xml b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/bottle_opener_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..95adb03ca4dc100154a69d39ecfefff55c76b395
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/bottle_opener_009.xml
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diff --git a/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009.obj b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a36ba577ece42bdfafccb65b69d573628dcd4a0b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c018ab4bb64cfee7212c8a311d316851d843defa37297a0bb79768a4ccf587d9
+size 110524185
diff --git a/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision.obj b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1600d9fb00449a22a81a2a92ea2afbe06d274546
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision.obj
@@ -0,0 +1,9289 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_0.obj b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..640aebaa44957009124dd25b6e7b30ce6f7d2152
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_0.obj
@@ -0,0 +1,826 @@
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diff --git a/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_1.obj b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99d2439cb323b79dcf6ed1ff0fa97c32fcec6c70
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_10.obj b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c74ec14a597aa52cee837bfb261128f3acd32bb1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_10.obj
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+
diff --git a/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_11.obj b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f6bb8606651af4c4814f72ad1a9d9d65bad3f88
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_11.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00227112 0.00787743 -0.03917834
+v -0.00227112 0.00787743 -0.03817834
+v -0.00227112 0.01423198 -0.03917834
+v -0.00227112 0.01423198 -0.03817834
+v 0.00773036 0.00787743 -0.03917834
+v 0.00773036 0.00787743 -0.03817834
+v 0.00773036 0.01423198 -0.03917834
+v 0.00773036 0.01423198 -0.03817834
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_12.obj b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35c3d8c619a1b0f10e57629fc6b7d56ee7cb8186
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_12.obj
@@ -0,0 +1,460 @@
+# https://github.com/mikedh/trimesh
+v -0.00277482 -0.00118157 0.04746356
+v -0.00287072 0.00096606 0.04806816
+v -0.00286379 -0.00118158 0.04806816
+v -0.00337333 -0.00333029 0.04806815
+v -0.00314802 -0.00275195 0.04746355
+v -0.00278291 0.00096607 0.04746356
+v -0.00341261 0.00311583 0.04806817
+v -0.00377310 0.00311583 0.05031348
+v -0.00325547 0.00096606 0.05031347
+v -0.00325085 -0.00118158 0.05031347
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diff --git a/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_13.obj b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ed864ce9bd204305c44d1991e553a4bfd5b0688
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_13.obj
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diff --git a/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_14.obj b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..231e4b2b158a666b5e39769eaea3d6c9c620a941
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_14.obj
@@ -0,0 +1,214 @@
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diff --git a/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_15.obj b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac155715675959fb8766fc042be15b1800fa438b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_15.obj
@@ -0,0 +1,448 @@
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diff --git a/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_16.obj b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c3e66901c7c973079ebb94c338f9cff325d9e1d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_16.obj
@@ -0,0 +1,436 @@
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diff --git a/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_17.obj b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee4e410fc27b1cab2cb57b278242af771cfd5de5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_17.obj
@@ -0,0 +1,187 @@
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+
diff --git a/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_18.obj b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a830bd68d3199283d2a828d8b3360658362224ac
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_18.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_19.obj b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c0647b2d98ebad1c4010a3720cfde17c8102b8c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_19.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+v -0.01407200 -0.00492259 -0.03579282
+v -0.01108990 -0.00443758 -0.03579282
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+v -0.01303270 -0.00384698 -0.02024827
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+
diff --git a/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_2.obj b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a9af6e12312e5e15bbbfe4f83898439aa530a11
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_2.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_20.obj b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c9ce93d9eed67e412409bd410a2a0e22a80bcfc
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_20.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_21.obj b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eff4013165e62b341cd65307d6579ec6e7666af4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_21.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_22.obj b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..162b215d7f212ed864248fee3c7fcec108c8d181
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_22.obj
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+f 141 154 144
+f 141 144 142
+f 144 155 156
+f 144 156 145
+f 144 154 153
+f 144 153 157
+f 144 157 155
+f 145 156 146
+f 146 156 155
+f 146 155 147
+f 147 155 148
+f 148 155 157
+f 148 157 158
+f 148 158 159
+f 148 159 149
+f 149 159 160
+f 149 160 151
+f 152 161 153
+f 153 161 158
+f 153 158 157
+f 158 161 162
+f 158 162 163
+f 158 163 159
+f 159 163 160
+
diff --git a/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_23.obj b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eedc4fbf1efc91301b2243fe8b7e8978325d6cb1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_23.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00908576 0.00526740 0.04746006
+v -0.00516652 0.00465911 0.04746006
+v -0.00394500 0.00456423 0.04357237
+v -0.00388193 0.00458621 0.04132656
+v -0.00367515 0.00461019 0.03712628
+v -0.00908576 0.00526440 0.04581920
+v -0.00908576 -0.00176838 0.04746003
+v -0.00415018 0.00445135 0.04746006
+v -0.00404959 0.00451528 0.04581920
+v -0.00155785 0.00294214 0.03712627
+v -0.00908576 0.00454727 0.03712628
+v -0.00908576 0.00504467 0.04262751
+v -0.00908576 0.00521747 0.04487434
+v -0.00908576 -0.00403970 0.03712625
+v -0.00692295 -0.00464202 0.04746002
+v -0.00333185 0.00311591 0.04746005
+v -0.00145247 0.00274637 0.03712627
+v -0.00555134 -0.00482078 0.03712624
+v -0.00557768 -0.00493668 0.04746002
+v -0.00278256 0.00096642 0.04746004
+v -0.00093671 0.00096645 0.03712626
+v -0.00362565 -0.00485075 0.03712624
+v -0.00383722 -0.00483677 0.04132652
+v -0.00390428 -0.00481381 0.04357233
+v -0.00401606 -0.00476288 0.04581916
+v -0.00411825 -0.00469995 0.04746002
+v -0.00277538 -0.00118207 0.04746004
+v -0.00092953 -0.00118204 0.03712626
+v -0.00266041 -0.00413059 0.03712624
+v -0.00144608 -0.00299891 0.03712625
+v -0.00386357 -0.00431440 0.04746002
+v -0.00314822 -0.00275223 0.04746003
+v -0.00093352 -0.00120401 0.03712626
+v -0.00329193 -0.00333055 0.04746003
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 12
+f 1 12 11
+f 1 11 14
+f 1 14 7
+f 1 7 15
+f 1 15 19
+f 1 19 26
+f 1 26 31
+f 1 31 34
+f 1 34 32
+f 1 32 27
+f 1 27 20
+f 1 20 16
+f 1 16 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 5 4
+f 3 9 10
+f 3 10 5
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 5 10 17
+f 5 17 21
+f 5 21 28
+f 5 28 33
+f 5 33 30
+f 5 30 29
+f 5 29 22
+f 5 22 18
+f 5 18 14
+f 5 14 11
+f 7 14 15
+f 8 16 10
+f 8 10 9
+f 10 16 17
+f 14 18 15
+f 15 18 19
+f 16 20 21
+f 16 21 17
+f 18 22 19
+f 19 22 23
+f 19 23 24
+f 19 24 25
+f 19 25 26
+f 20 27 28
+f 20 28 21
+f 22 29 24
+f 22 24 23
+f 24 29 25
+f 25 29 30
+f 25 30 26
+f 26 30 31
+f 27 32 33
+f 27 33 28
+f 30 33 34
+f 30 34 31
+f 32 34 33
+
diff --git a/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_24.obj b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbddc1fbdb300dd59f8fd57a41f1aa4d10addfac
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_24.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.00157776 -0.00118170 0.03850403
+v 0.00188102 -0.00264820 0.03850402
+v 0.00221468 -0.00193021 0.04215280
+v 0.00256834 -0.00118173 0.04581906
+v 0.00158336 0.00096618 0.03850403
+v 0.00229549 -0.00346382 0.03850402
+v 0.00308444 -0.00333063 0.04581905
+v 0.00309964 -0.00333063 0.04593839
+v 0.00258515 -0.00118173 0.04593840
+v 0.00258515 -0.00106783 0.04593840
+v 0.00257554 0.00096615 0.04581906
+v 0.00173459 0.00189164 0.03850404
+v 0.00369095 -0.00485303 0.03850401
+v 0.00380457 -0.00483778 0.04132610
+v 0.00387899 -0.00480932 0.04357184
+v 0.00398621 -0.00475339 0.04581904
+v 0.00399341 -0.00474831 0.04593838
+v 0.00259235 0.00096615 0.04593840
+v 0.00262035 0.00108005 0.04593840
+v 0.00314285 0.00311606 0.04593841
+v 0.00188662 0.00241233 0.03850404
+v 0.00472394 -0.00485303 0.03850401
+v 0.00552409 -0.00490797 0.04593838
+v 0.00374136 -0.00485201 0.03907964
+v 0.00406782 -0.00476458 0.04593838
+v 0.00318206 0.00318420 0.04593841
+v 0.00312765 0.00311606 0.04581907
+v 0.00402941 0.00449713 0.04593842
+v 0.00261475 0.00345678 0.03850404
+v 0.00523844 -0.00484489 0.03850401
+v 0.00512962 -0.00485201 0.03907964
+v 0.00559930 -0.00489374 0.04593838
+v 0.00975127 0.00548157 0.04593842
+v 0.00402221 0.00450221 0.04581908
+v 0.00391739 0.00455714 0.04357188
+v 0.00344050 0.00439444 0.03850405
+v 0.00678192 -0.00456423 0.04593838
+v 0.00975127 -0.00329602 0.03850402
+v 0.00975127 0.00547852 0.04581908
+v 0.00372456 0.00460699 0.03850405
+v 0.00383978 0.00458766 0.04132614
+v 0.00975127 -0.00113190 0.04593840
+v 0.00975127 0.00463343 0.03850405
+v 0.00975127 0.00530971 0.04357188
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 21
+f 1 21 29
+f 1 29 36
+f 1 36 40
+f 1 40 43
+f 1 43 38
+f 1 38 30
+f 1 30 22
+f 1 22 13
+f 1 13 6
+f 1 6 2
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+f 3 8 9
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+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 6 13 14
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+f 6 17 7
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+f 8 17 25
+f 8 25 23
+f 8 23 32
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+f 8 26 20
+f 8 20 19
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+f 12 20 21
+f 12 18 19
+f 13 22 23
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+f 13 24 14
+f 14 24 23
+f 14 23 15
+f 15 23 25
+f 15 25 16
+f 16 25 17
+f 20 26 27
+f 20 27 21
+f 21 27 26
+f 21 26 28
+f 21 28 29
+f 22 30 31
+f 22 31 23
+f 23 31 30
+f 23 30 32
+f 28 33 34
+f 28 34 29
+f 29 34 35
+f 29 35 36
+f 30 37 32
+f 30 38 37
+f 33 39 40
+f 33 40 41
+f 33 41 35
+f 33 35 34
+f 33 42 38
+f 33 38 43
+f 33 43 44
+f 33 44 39
+f 35 41 36
+f 36 41 40
+f 37 38 42
+f 39 44 40
+f 40 44 43
+
diff --git a/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_25.obj b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e0ca7b593a5bab23d5fefffcd5681c5bbd8d838
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_25.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.01223912 0.00586614 0.04746006
+v -0.01223912 0.00569773 0.04581920
+v -0.01386177 0.00562931 0.04746006
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+v -0.01001913 0.00535774 0.04357237
+v -0.01030947 0.00472093 0.03712628
+v -0.01445911 0.00491039 0.04132656
+v -0.01237569 0.00468830 0.03712628
+v -0.01282571 0.00464304 0.03712628
+v -0.01445911 0.00549141 0.04746006
+v -0.01457847 0.00490302 0.04144694
+v -0.01001913 0.00552931 0.04746006
+v -0.01001913 0.00553668 0.04581920
+v -0.00908629 0.00504512 0.04262751
+v -0.00908629 0.00454725 0.03712628
+v -0.01001913 0.00469146 0.03712628
+v -0.01457847 0.00489039 0.04133263
+v -0.01454567 0.00463567 0.03902207
+v -0.01346014 0.00451146 0.03712628
+v -0.01457847 0.00545878 0.04746006
+v -0.00908629 0.00526721 0.04746006
+v -0.00908629 0.00526405 0.04581920
+v -0.00908629 0.00521774 0.04487434
+v -0.00908629 -0.00403994 0.03712625
+v -0.01457847 0.00463357 0.03905849
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+v -0.01457847 0.00462936 0.03903825
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+v -0.01457847 -0.00127477 0.04746004
+v -0.00908629 -0.00176844 0.04746003
+v -0.01032613 -0.00470940 0.03712624
+v -0.01457847 0.00442936 0.03869632
+v -0.01457847 0.00460515 0.03898970
+v -0.01457847 0.00348727 0.03712627
+v -0.01457847 -0.00446416 0.04307360
+v -0.01457847 -0.00483257 0.04197902
+v -0.01299829 -0.00466520 0.04068211
+v -0.01225041 -0.00483572 0.03902001
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+v -0.01457847 -0.00381889 0.03712625
+v -0.01457847 -0.00487783 0.04139329
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+v -0.01455213 -0.00486308 0.03901090
+v -0.01347251 -0.00472940 0.03712624
+v -0.01408006 -0.00430941 0.03712624
+v -0.01457847 -0.00441151 0.03773625
+v -0.01457847 -0.00485782 0.03902405
+v -0.01387360 -0.00468204 0.03730125
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+f 1 20 29
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+f 1 30 21
+f 1 21 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
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+f 6 31 39
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+f 6 40 34
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+f 6 19 9
+f 6 9 8
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+f 19 28 26
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+f 29 35 30
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+f 41 47 43
+f 41 43 42
+f 43 47 48
+f 43 48 44
+f 44 48 45
+f 45 48 46
+f 46 48 47
+
diff --git a/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_3.obj b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4414faf06514d85154d93f3c4b8d387109ebaac5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_3.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v 0.01218549 0.00571259 0.04593842
+v 0.01440511 0.00490858 0.04132614
+v 0.01218549 0.00570003 0.04581908
+v 0.00996474 0.00536398 0.04357188
+v 0.00996474 0.00553776 0.04581908
+v 0.00996474 0.00553671 0.04593842
+v 0.01893391 0.00461543 0.04593842
+v 0.01894062 0.00460496 0.04579652
+v 0.01662474 0.00477561 0.04357188
+v 0.01659675 0.00454426 0.04145204
+v 0.01449130 0.00463221 0.03902292
+v 0.01222578 0.00481646 0.03850405
+v 0.00996474 0.00466466 0.03850405
+v 0.00975319 0.00463430 0.03850405
+v 0.00975319 0.00531059 0.04357188
+v 0.00975319 0.00547913 0.04582999
+v 0.00984721 0.00550739 0.04593842
+v 0.01917456 0.00455471 0.04593842
+v 0.01820970 0.00446573 0.04357188
+v 0.01583897 0.00439978 0.03973462
+v 0.01428646 0.00458091 0.03850405
+v 0.00975319 -0.00329605 0.03850402
+v 0.00975319 0.00548122 0.04593842
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+v 0.01974318 0.00389201 0.04503240
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+v 0.02013942 0.00245880 0.04437527
+v 0.01929097 0.00315186 0.04360462
+v 0.01817388 0.00311522 0.04177077
+v 0.01741834 0.00311522 0.04064717
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+v 0.01676801 -0.00475861 0.04593838
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+v 0.01959207 0.00096695 0.04305300
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+v 0.01786383 -0.00450944 0.04224667
+v 0.01566323 -0.00384254 0.03850402
+v 0.01541250 -0.00421524 0.03850401
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diff --git a/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_4.obj b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0385ceeb11a6919c55ff50d6deae81bb8e98cbbb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_4.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_5.obj b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25fbb867e5a5fe9621be77db768053438b479984
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_5.obj
@@ -0,0 +1,226 @@
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diff --git a/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_6.obj b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6dc27df4c9648408c5536f4157f042b73277e62
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_6.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_7.obj b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c722d2e61f1d6e01ccead38c5a06742b52d7a75e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_7.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_8.obj b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fed54e9177fc73e6a8ee81b339a40d43072a6cbb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_8.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.01476962 -0.00548285 -0.03913557
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+v 0.01348690 -0.00706596 -0.03913558
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diff --git a/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_9.obj b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20eac8f017bea8b94b7842540b968715329f951c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_9.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_geometry_Looks_material_0.png b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1f1d642b6c53b97a863c98c32e27a976ea5b001
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbd611e5e5d025c0175ad7f12fa548649067a2ec010fa37be043dccff709ad00
+size 10232625
diff --git a/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/textures/material_0.png b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1f1d642b6c53b97a863c98c32e27a976ea5b001
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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